JP5136314B2 - Lane recognition device - Google Patents

Lane recognition device Download PDF

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JP5136314B2
JP5136314B2 JP2008236609A JP2008236609A JP5136314B2 JP 5136314 B2 JP5136314 B2 JP 5136314B2 JP 2008236609 A JP2008236609 A JP 2008236609A JP 2008236609 A JP2008236609 A JP 2008236609A JP 5136314 B2 JP5136314 B2 JP 5136314B2
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captured image
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lane recognition
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JP2010069921A (en
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ヴァン クイ フン グエン
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Toyota Motor Corp
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Description

本発明は、走行路の撮像画像に基づいて走行路の車線を認識する車線認識装置に関するものである。   The present invention relates to a lane recognition device that recognizes a lane of a traveling road based on a captured image of the traveling road.

従来の車線認識装置としては、例えば特許文献１に記載されているように、ＣＣＤカメラにより車両前方を撮影し、その撮影信号に基づいて道路上の白線（車線）を抽出し、運転支援としてレーンキープアシストを実行するものが知られている。
特開２００６−２４０３５３号公報 As a conventional lane recognition device, for example, as described in Patent Document 1, a front of a vehicle is photographed by a CCD camera, a white line (lane) on a road is extracted based on the photographing signal, and lanes are provided as driving assistance. One that performs keep assist is known.
JP 2006-240353 A

しかしながら、上記従来技術においては、例えば雨や逆光等といった悪天候等の影響によってＣＣＤカメラによる白線の抽出ができなくなると、運転支援を中止せざるを得なくなり、結果的にドライバーの期待に応じた運転支援を提供することができなくなる。   However, in the above prior art, if the white line cannot be extracted by the CCD camera due to bad weather such as rain or backlight, driving support must be stopped, and as a result, driving according to the driver's expectations You will not be able to provide support.

本発明の目的は、自車両の前方を撮像した時に車線の認識ができなくても、運転支援を継続することができる車線認識装置を提供することである。   An object of the present invention is to provide a lane recognition device that can continue driving assistance even if the lane cannot be recognized when the front of the host vehicle is imaged.

本発明は、自車両が走行する走行路の撮像画像に基づいて走行路の車線を認識する車線認識装置において、自車両の前方を撮像する第１撮像手段と、第１撮像手段の撮像範囲とは異なる範囲を撮像する第２撮像手段と、第１撮像手段により取得された第１撮像画像または第２撮像手段により取得された第２撮像画像に基づいて、走行路の車線を認識する認識手段と、第１撮像手段により取得された第１撮像画像における車線認識信頼度を判定する信頼度判定手段とを備え、認識手段は、第１撮像手段により取得された第１撮像画像における車線認識信頼度に応じて、第２撮像手段により取得された第２撮像画像における車線認識信頼度を判定し、車線の認識に使用する撮像画像を切り替えることを特徴とするものである。 The present invention relates to a lane recognition device that recognizes a lane of a traveling road based on a captured image of a traveling road on which the host vehicle travels, and a first imaging unit that images the front of the host vehicle, and an imaging range of the first imaging unit. Is a second imaging means for imaging a different range, and a recognition means for recognizing the lane of the traveling road based on the first captured image acquired by the first imaging means or the second captured image acquired by the second imaging means. And a reliability determination unit that determines a lane recognition reliability in the first captured image acquired by the first imaging unit, and the recognition unit includes a lane recognition reliability in the first captured image acquired by the first imaging unit. Depending on the degree, the lane recognition reliability in the second captured image acquired by the second imaging means is determined, and the captured image used for lane recognition is switched.

このように本発明の車線認識装置においては、第１撮像手段により取得された第１撮像画像における車線認識信頼度を判定し、その車線認識信頼度に応じて、第２画像撮像手段により取得された第２撮像画像における車線認識信頼度を判定し、車線の認識に使用する撮像画像を切り替えることにより、例えば第１撮像手段により取得された第１撮像画像に基づいて車線の認識を行っていても、悪天候等の影響によって上記の車線認識信頼度が低くなると、第２撮像手段により取得された第２撮像画像に基づいて車線の認識を行うようにするといった事が可能となる。この場合には、その時の車線の認識率等に応じた適切な運転支援を実施することが可能となる。従って、第１撮像手段により取得された第１撮像画像に基づいて車線を認識して運転支援を実施している最中に、当該第１撮像画像に基づいた車線認識ができなくなっても、何らかの運転支援を継続することができる。 As described above, in the lane recognition device of the present invention, the lane recognition reliability in the first captured image acquired by the first imaging unit is determined, and the lane recognition reliability is acquired by the second image imaging unit according to the lane recognition reliability. The lane recognition reliability is determined in the second captured image, and the lane recognition is performed based on the first captured image acquired by the first imaging means, for example, by switching the captured image used for lane recognition. However, when the lane recognition reliability is lowered due to the influence of bad weather or the like, it becomes possible to recognize the lane based on the second captured image acquired by the second imaging means. In this case, it is possible to implement appropriate driving support according to the recognition rate of the lane at that time. Therefore, even if lane recognition based on the first captured image cannot be performed while driving support is being performed by recognizing the lane based on the first captured image acquired by the first imaging unit, Driving assistance can be continued.

好ましくは、認識手段は、車線認識信頼度が所定値よりも高いときは、第１撮像手段により取得された第１撮像画像に基づいて車線を認識し、車線認識信頼度が所定値よりも低いときは、第２撮像手段により取得された第２撮像画像に基づいて車線を認識する。この場合には、第１撮像手段により取得された第１撮像画像における車線認識信頼度に応じた臨機応変な車線認識を行うことができる。 Preferably, when the lane recognition reliability is higher than a predetermined value, the recognition unit recognizes the lane based on the first captured image acquired by the first imaging unit, and the lane recognition reliability is lower than the predetermined value. When, the lane is recognized based on the second captured image acquired by the second imaging means. In this case, flexible lane recognition according to the lane recognition reliability in the first captured image acquired by the first imaging unit can be performed.

このとき、信頼度判定手段は、自車両の前方を走行する前方車両と自車両との車間距離が所定距離より短いことが検出されたときに、車線認識信頼度が所定値よりも低いと判定することが好ましい。車線の認識を正確に行うには、自車両の前方にある程度の距離が必要となる。従って、前方車両と自車両との車間距離が所定距離より短いときには、第１撮像手段により取得された第１撮像画像における車線認識信頼度が所定値よりも低いと判定するのが好適である。 At this time, the reliability determination means determines that the lane recognition reliability is lower than a predetermined value when it is detected that the inter-vehicle distance between the front vehicle traveling ahead of the own vehicle and the own vehicle is shorter than the predetermined distance. It is preferable to do. In order to accurately recognize the lane, a certain distance is required in front of the host vehicle. Therefore, when the inter-vehicle distance between the preceding vehicle and the host vehicle is shorter than the predetermined distance, it is preferable to determine that the lane recognition reliability in the first captured image acquired by the first imaging unit is lower than the predetermined value.

本発明によれば、自車両の前方を撮像した時に車線の認識ができなくても、運転支援を継続することができる。これにより、様々な状況に応じて信頼性の高い運転支援を実現することが可能となる。   According to the present invention, driving assistance can be continued even if the lane cannot be recognized when the front of the host vehicle is imaged. Thereby, it becomes possible to realize highly reliable driving assistance according to various situations.

以下、本発明に係わる車線認識装置の好適な実施形態について、図面を参照して詳細に説明する。   DESCRIPTION OF EMBODIMENTS Hereinafter, a preferred embodiment of a lane recognition device according to the present invention will be described in detail with reference to the drawings.

図１は、本発明に係わる車線認識装置の一実施形態を含む運転支援装置の概略構成を示すブロック図である。同図において、運転支援装置１は、自車両に搭載され、自車両が走行する走行路の車線を認識して運転支援を行う装置である。   FIG. 1 is a block diagram showing a schematic configuration of a driving support device including an embodiment of a lane recognition device according to the present invention. In the figure, a driving support device 1 is a device that is mounted on a host vehicle and recognizes the lane of a travel path on which the host vehicle travels to perform driving support.

運転支援装置１は、前方カメラ２と、左側方カメラ３と、右側方カメラ４と、後方カメラ５と、床下カメラ６と、支援ＯＮ／ＯＦＦスイッチ７と、支援モード選択スイッチ８と、報知部９と、ＥＣＵ（Electronic Control Unit）１０とを備えている。   The driving support device 1 includes a front camera 2, a left side camera 3, a right side camera 4, a rear camera 5, an underfloor camera 6, a support ON / OFF switch 7, a support mode selection switch 8, a notification unit. 9 and an ECU (Electronic Control Unit) 10.

前方カメラ２は、例えばルームミラーに取り付けられ、自車両の前方を撮像して前方の撮像画像を取得する。左側方カメラ３は、例えば左サイドミラーに取り付けられ、自車両の左側方を撮像して左側方の撮像画像を取得する。右側方カメラ４は、例えば右サイドミラーに取り付けられ、自車両の右側方を撮像して右側方の撮像画像を取得する。後方カメラ５は、例えば車体後部に取り付けられ、自車両の後方を撮像して後方の撮像画像を取得する。床下カメラ６は、車体床下に取り付けられ、例えば自車両の側方を撮像して側方の撮像画像を取得する。つまり、カメラ３〜６は、前方カメラ２の撮像範囲とは異なる範囲を撮像するようになっている。   The front camera 2 is attached to a room mirror, for example, and images the front of the host vehicle and acquires a front captured image. The left side camera 3 is attached to a left side mirror, for example, and images the left side of the host vehicle to acquire a left side captured image. The right side camera 4 is attached to a right side mirror, for example, and images the right side of the host vehicle to acquire a captured image on the right side. The rear camera 5 is attached to the rear part of the vehicle body, for example, and captures the rear captured image by capturing the rear of the host vehicle. The underfloor camera 6 is attached to the underside of the vehicle body, and for example, captures an image of the side of the host vehicle and acquires a captured image of the side. That is, the cameras 3 to 6 capture a range different from the imaging range of the front camera 2.

支援ＯＮ／ＯＦＦスイッチ７は、運転支援を実行するか否かを設定するスイッチである。支援モード選択スイッチ８は、支援ＯＮ／ＯＦＦスイッチ７がＯＮ設定されたときに、運転支援モードを選択するスイッチである。運転支援モードとしては、レーンキーピングアシスト（ＬＫＡ：車線維持支援）モードや車線逸脱防止支援モード等がある。なお、支援ＯＮ／ＯＦＦスイッチ７がＯＮ設定されると、例えばＬＫＡモードがデフォルトモードとして自動的に選択されるようにしても良い。   The support ON / OFF switch 7 is a switch for setting whether to perform driving support. The assistance mode selection switch 8 is a switch that selects the driving assistance mode when the assistance ON / OFF switch 7 is set to ON. Driving support modes include a lane keeping assist (LKA: lane keeping support) mode, a lane departure prevention support mode, and the like. Note that when the support ON / OFF switch 7 is set to ON, for example, the LKA mode may be automatically selected as the default mode.

報知部９は、ＥＣＵ１０によって運転支援モードが設定された（後述）ときに、その運転支援モードを音声や表示等により報知する。   When the driving support mode is set by the ECU 10 (described later), the notification unit 9 notifies the driving support mode by voice, display, or the like.

ＥＣＵ１０は、ＣＰＵ、ＲＯＭやＲＡＭ等のメモリ、入出力回路等により構成されている。ＥＣＵ１０は、車線認識部１１と、支援制御部１２と、白線認識判定部１３とを有している。   The ECU 10 includes a CPU, a memory such as a ROM and a RAM, an input / output circuit, and the like. The ECU 10 includes a lane recognition unit 11, a support control unit 12, and a white line recognition determination unit 13.

車線認識部１１は、カメラ２〜６の撮像画像を画像処理して、自車両が走行する走行路の車線（白線）を認識する。   The lane recognition unit 11 performs image processing on the captured images of the cameras 2 to 6 and recognizes the lane (white line) of the travel path on which the host vehicle travels.

支援制御部１２は、車線認識部１１で認識された白線に基づいて、支援モード選択スイッチ８または車線認識判定部１２で指定された運転支援モードを実行するように操舵機構（図示せず）等を制御する。   Based on the white line recognized by the lane recognition unit 11, the support control unit 12 performs a steering mechanism (not shown) or the like so as to execute the driving support mode designated by the support mode selection switch 8 or the lane recognition determination unit 12. To control.

具体的には、運転支援モードがＬＫＡモードである場合は、前方カメラ２の撮像画像から認識された白線に基づいて自車両のレーンオフセットやヨー角度等を求め、自車両が走行路の中央を維持して走行するように操舵機構（図示せず）を制御する。   Specifically, when the driving support mode is the LKA mode, the lane offset, the yaw angle, etc. of the own vehicle is obtained based on the white line recognized from the captured image of the front camera 2, and the own vehicle moves around the center of the traveling path. A steering mechanism (not shown) is controlled so as to maintain and travel.

運転支援モードが車線逸脱防止支援モードである場合には、カメラ２〜６の撮像画像から認識された白線に基づいて自車両と白線との相対距離等を求め、自車両が車線を逸脱する可能性があるかどうかを判断し、自車両が車線を逸脱する可能性があるときに警報音を発生させ、更にその警報にも拘わらず、ドライバーが適切な逸脱回避操作を行わない場合には、車線逸脱を防止するように操舵機構（図示せず）を制御する。   When the driving support mode is the lane departure prevention support mode, the relative distance between the own vehicle and the white line is obtained based on the white line recognized from the captured images of the cameras 2 to 6, and the own vehicle can deviate from the lane. If there is a possibility that the vehicle will depart from the lane, a warning sound is generated, and in spite of the warning, if the driver does not perform an appropriate departure avoidance operation, A steering mechanism (not shown) is controlled so as to prevent lane departure.

白線認識判定部１３は、カメラ２〜６の撮像画像を取得し、撮像画像における白線認識信頼度を判定し、その判定結果に応じて適切な運転支援モードを決定する。また、車線認識判定部１３は、カメラ２〜６の起動を制御する。ここで、良天候時において自車両の直前に他車両が走行していない場合には、前方カメラ２のみで白線認識を十分精度良く行うことができる。このため、通常時には、前方カメラ２をＯＮ（起動）とし、他のカメラ３〜６をＯＦＦとしている。   The white line recognition determination unit 13 acquires the captured images of the cameras 2 to 6, determines the white line recognition reliability in the captured image, and determines an appropriate driving support mode according to the determination result. The lane recognition determination unit 13 controls activation of the cameras 2 to 6. Here, when the other vehicle is not traveling immediately before the host vehicle in good weather, white line recognition can be performed with sufficient accuracy only by the front camera 2. For this reason, at the normal time, the front camera 2 is turned on (activated), and the other cameras 3 to 6 are turned off.

図２は、白線認識判定部１３により実行される処理手順を示すフローチャートである。同図において、まず支援ＯＮ／ＯＦＦスイッチ７の出力信号（操作信号）に基づいて支援ＯＮ／ＯＦＦスイッチ７がＯＮになっているかどうかを判断し（手順Ｓ１０１）、支援ＯＮ／ＯＦＦスイッチ７がＯＮになっているときは、前方カメラ２の撮像画像データを入力する（手順Ｓ１０２）。   FIG. 2 is a flowchart illustrating a processing procedure executed by the white line recognition determination unit 13. In the figure, first, based on the output signal (operation signal) of the support ON / OFF switch 7, it is determined whether the support ON / OFF switch 7 is ON (step S101), and the support ON / OFF switch 7 is turned ON. When it is, the imaged image data of the front camera 2 is input (step S102).

続いて、前方カメラ２の撮像画像における白線認識信頼度が予め設定された許容レベル以下であるかどうかを判断する（手順Ｓ１０３）。この判断処理の詳細を図３に示す。   Subsequently, it is determined whether or not the white line recognition reliability in the captured image of the front camera 2 is equal to or lower than a preset allowable level (step S103). Details of this determination processing are shown in FIG.

図３において、まず前方カメラ２の撮像画像に基づいて、自車両の前方を走行する前方車両と自車両との車間距離が閾値より短いかどうかを判断する（手順Ｓ２０１）。前方カメラ２による白線の認識は、自車両の前方に約３０ｍ以上の距離の空間がないと行うことができないため、上記閾値を例えば３０ｍとする。なお、前方車両と自車両との車間距離は、レーダ等により計測しても良い。前方車両と自車両との車間距離が閾値より短いときは、前方カメラ２の撮像画像における白線認識信頼度が許容レベル以下であると判定する（手順Ｓ２０２）。   In FIG. 3, first, based on the captured image of the front camera 2, it is determined whether or not the inter-vehicle distance between the front vehicle traveling in front of the host vehicle and the host vehicle is shorter than a threshold value (step S <b> 201). The white line recognition by the front camera 2 cannot be performed unless there is a space with a distance of about 30 m or more in front of the host vehicle, and thus the threshold value is set to 30 m, for example. The inter-vehicle distance between the preceding vehicle and the host vehicle may be measured by a radar or the like. When the inter-vehicle distance between the preceding vehicle and the host vehicle is shorter than the threshold value, it is determined that the white line recognition reliability in the captured image of the front camera 2 is equal to or lower than the allowable level (step S202).

一方、前方車両と自車両との車間距離が閾値より短くないときは、引き続いて前方カメラ２の撮像画像における白線に対応する領域の輝度値が閾値よりも低いかどうかを判断する（手順Ｓ２０３）。良天候時には、図４（ａ）に示すように、前方カメラの撮像画像における白線に対応する領域Ｈの輝度値が閾値Ｓよりも高くなるため、白線を認識することが可能となる。しかし、雨や逆光等の悪天候時には、図４（ｂ）に示すように、前方カメラ２の撮像画像における白線に対応する領域Ｈの輝度値が閾値Ｓよりも低くなるため、白線と他の部分との区別がつきにくくなり、白線の認識が困難となる。   On the other hand, when the inter-vehicle distance between the preceding vehicle and the host vehicle is not shorter than the threshold value, it is subsequently determined whether or not the luminance value of the region corresponding to the white line in the captured image of the front camera 2 is lower than the threshold value (step S203). . When the weather is good, as shown in FIG. 4A, the brightness value of the region H corresponding to the white line in the captured image of the front camera is higher than the threshold value S, and thus the white line can be recognized. However, during bad weather such as rain or backlight, the brightness value of the region H corresponding to the white line in the captured image of the front camera 2 is lower than the threshold S as shown in FIG. And it becomes difficult to recognize the white line.

従って、前方カメラ２の撮像画像における白線に対応する領域の輝度値が閾値よりも低いときは、前方カメラ２の撮像画像における白線認識信頼度が許容レベル以下であると判定する（手順Ｓ２０２）。一方、前方カメラ２の撮像画像における白線に対応する領域の輝度値が閾値よりも低くないときは、前方カメラ２の撮像画像における白線認識信頼度が許容レベル以下でないと判定する（手順Ｓ２０４）。   Therefore, when the brightness value of the area corresponding to the white line in the captured image of the front camera 2 is lower than the threshold value, it is determined that the white line recognition reliability in the captured image of the front camera 2 is equal to or lower than the allowable level (step S202). On the other hand, when the brightness value of the area corresponding to the white line in the captured image of the front camera 2 is not lower than the threshold value, it is determined that the white line recognition reliability in the captured image of the front camera 2 is not less than the allowable level (step S204).

図２に戻り、前方カメラ２の撮像画像における白線認識信頼度が許容レベル以下でないときは、手順Ｓ１０２に戻る。前方カメラ２の撮像画像における白線認識信頼度が許容レベル以下であるときは、前方カメラ２以外のカメラ３〜６のうち使用していないカメラを起動（ＯＮ）するように制御する（手順Ｓ１０４）。続いて、起動したカメラの撮像画像データを入力する（手順Ｓ１０５）。   Returning to FIG. 2, when the white line recognition reliability in the captured image of the front camera 2 is not less than the allowable level, the process returns to step S102. When the white line recognition reliability in the captured image of the front camera 2 is equal to or lower than the allowable level, control is performed so as to activate (ON) an unused camera among the cameras 3 to 6 other than the front camera 2 (step S104). . Subsequently, captured image data of the activated camera is input (step S105).

そして、起動したカメラの撮像画像における白線認識信頼度が許容レベル以上であるかどうかを判断する（手順Ｓ１０６）。この判断処理は、図４に示すように、撮像画像における白線に対応する領域Ｈの輝度値が閾値Ｓよりも高いかどうかを判断することにより行う。   Then, it is determined whether or not the white line recognition reliability in the captured image of the activated camera is equal to or higher than an allowable level (step S106). This determination process is performed by determining whether or not the luminance value of the region H corresponding to the white line in the captured image is higher than the threshold value S as shown in FIG.

起動したカメラの撮像画像における白線認識信頼度が許容レベル以上でないときは、手順Ｓ１０４に戻り、カメラ３〜６のうち更に未だ使用していないカメラを起動するように制御し、再び手順Ｓ１０５，Ｓ１０６を実行する。   When the white line recognition reliability in the captured image of the activated camera is not equal to or higher than the allowable level, the process returns to step S104 to control to activate a camera that is not yet used among the cameras 3 to 6, and again to steps S105 and S106. Execute.

一方、起動したカメラの撮像画像における白線認識信頼度が許容レベル以上であるときは、その時の白線認識信頼度や起動したカメラの搭載位置等に応じた適切な運転支援モードを決定する（手順Ｓ１０７）。これにより、白線認識の高信頼性を確保することができる。このとき、支援モード選択スイッチ８で指定された運転支援モードが実施可能であれば、運転支援モードを変更せずにそのままとし、支援モード選択スイッチ８で指定された運転支援モードが実施不可能であれば、実施可能な運転支援モードに切り替える。   On the other hand, when the white line recognition reliability in the captured image of the activated camera is equal to or higher than the allowable level, an appropriate driving support mode is determined according to the white line recognition reliability at that time, the mounting position of the activated camera, and the like (step S107). ). Thereby, high reliability of white line recognition can be ensured. At this time, if the driving support mode specified by the support mode selection switch 8 can be implemented, the driving support mode is not changed and the driving support mode specified by the support mode selection switch 8 cannot be executed. If there is, switch to a possible driving support mode.

続いて、その適切な運転支援モードを支援制御部１２に通知すると共に、カメラ３〜６のうち撮像画像における白線認識信頼度が許容レベル以上であるカメラを車線認識部１１に通知する（手順Ｓ１０８）。   Subsequently, the appropriate driving support mode is notified to the support control unit 12, and the camera whose white line recognition reliability in the captured image is equal to or higher than the allowable level among the cameras 3 to 6 is notified to the lane recognition unit 11 (step S108). ).

また、手順Ｓ１０７で決定された運転支援モードを音声等でドライバーに知らせるように報知部９を制御する（手順Ｓ１０９）。このとき、実施する運転支援モードが変更される場合のみ、運転支援モードの報知を行っても良いし、実施する運転支援モードの変更の有無に拘わらず、運転支援モードの報知を行っても良い。   In addition, the notification unit 9 is controlled so as to notify the driver of the driving support mode determined in step S107 by voice or the like (step S109). At this time, the driving support mode may be notified only when the driving support mode to be implemented is changed, or the driving support mode may be notified regardless of whether or not the driving support mode to be implemented is changed. .

以上の処理手順により、前方カメラ２の撮像画像における白線認識信頼度が許容レベルよりも高いときは、車線認識部１１は、そのまま前方カメラ２の撮像画像に基づいて白線の認識を行い、支援制御部１２は、現状の運転支援モードを継続することとなる。一方、前方カメラ２の撮像画像における白線認識信頼度が許容レベル以下であるときは、車線認識部１１は、カメラ３〜６の何れかの撮像画像に基づいて白線の認識を行い、支援制御部１２は、白線認識判定部１３で決定された運転支援モードを実施することとなる。   When the white line recognition reliability in the captured image of the front camera 2 is higher than the allowable level by the above processing procedure, the lane recognition unit 11 recognizes the white line as it is based on the captured image of the front camera 2 and supports control. The unit 12 will continue the current driving support mode. On the other hand, when the white line recognition reliability in the captured image of the front camera 2 is below the allowable level, the lane recognition unit 11 recognizes the white line based on the captured image of any of the cameras 3 to 6, and the support control unit 12 will implement the driving support mode determined by the white line recognition determination unit 13.

次に、本実施形態に係わる運転支援装置１の動作について説明する。なお、支援ＯＮ／ＯＦＦスイッチ７はＯＮに設定され、支援モード選択スイッチ８により運転支援モードとしてＬＫＡモードが選択されているものとする。   Next, operation | movement of the driving assistance apparatus 1 concerning this embodiment is demonstrated. It is assumed that the support ON / OFF switch 7 is set to ON and the LKA mode is selected as the driving support mode by the support mode selection switch 8.

この場合には、前方カメラ２の撮像画像に基づいて白線を認識し、自車両が走行路の中央を維持して走行するような支援が行われる。このとき、前方カメラ２の撮像画像における白線認識信頼度が許容レベル以下に低下したかどうかが判断され（図２の手順Ｓ１０３参照）、白線認識信頼度が許容レベル以下に低下していないときは、現状のＬＫＡモードが継続して実施される。   In this case, the white line is recognized based on the captured image of the front camera 2, and support is provided so that the host vehicle travels while maintaining the center of the travel path. At this time, it is determined whether or not the white line recognition reliability in the captured image of the front camera 2 has decreased below an allowable level (see step S103 in FIG. 2), and when the white line recognition reliability has not decreased below the allowable level. The current LKA mode is continuously implemented.

一方、例えば雨や逆光等の悪天候の影響や、交通渋滞により前方車両との車間距離が短くなることで、前方カメラ２の撮像画像における白線認識信頼度が許容レベル以下に低下すると、左側方カメラ３、右側方カメラ４、後方カメラ５及び床下カメラ６の何れかが起動（ＯＮ）される（図２の手順Ｓ１０４参照）。   On the other hand, if the white line recognition reliability in the captured image of the front camera 2 falls below an allowable level due to the influence of bad weather such as rain or backlight, or the distance between the vehicle and the vehicle ahead due to traffic congestion, the left camera 3. Any one of the right side camera 4, the rear camera 5, and the underfloor camera 6 is activated (ON) (see step S104 in FIG. 2).

そして、起動されたカメラの撮像画像における白線認識信頼度が許容レベル以上であるかどうかが判断され（図２の手順Ｓ１０６参照）、起動されたカメラの撮像画像における白線認識信頼度が許容レベル以上であるときは、適切な運転支援モードが決定される（図２の手順Ｓ１０７参照）。このとき、運転支援モードが車線逸脱防止支援モードに切り替わった場合には、起動されたカメラの撮像画像に基づいて白線を認識し、自車両と白線との相対距離等を求め、その結果から自車両が車線を逸脱する可能性があると判断されると、逸脱防止支援を実施する。   Then, it is determined whether or not the white line recognition reliability in the captured image of the activated camera is equal to or higher than the allowable level (see step S106 in FIG. 2), and the white line recognition reliability in the captured image of the activated camera is equal to or higher than the allowable level. If so, an appropriate driving support mode is determined (see step S107 in FIG. 2). At this time, when the driving support mode is switched to the lane departure prevention support mode, the white line is recognized based on the captured image of the activated camera, the relative distance between the own vehicle and the white line is obtained, and the result is used. When it is determined that there is a possibility that the vehicle departs from the lane, assistance for preventing departure is performed.

以上において、車線認識部１１は、第１撮像手段２により取得された撮像画像または第２撮像手段３〜６により取得された撮像画像に基づいて、走行路の車線を認識する認識手段を構成する。車線認識判定部１３の上記手順Ｓ１０２，Ｓ１０３は、第１撮像手段２により取得された撮像画像における車線認識信頼度を判定する信頼度判定手段を構成する。   In the above, the lane recognition unit 11 constitutes a recognition unit for recognizing the lane of the traveling road based on the captured image acquired by the first imaging unit 2 or the captured images acquired by the second imaging unit 3-6. . The procedures S102 and S103 of the lane recognition determination unit 13 constitute a reliability determination unit that determines the lane recognition reliability in the captured image acquired by the first imaging unit 2.

以上のように本実施形態にあっては、前方カメラ２に加えて左側方カメラ３、右側方カメラ４、後方カメラ５及び床下カメラ６を搭載し、通常時には前方カメラ２のみを用いて運転支援を行い、前方カメラ２の撮像画像における白線認識信頼度が許容レベル以下に低下すると、カメラ３〜６の何れかを用いてリアルタイムで適切な運転支援を実施する。従って、雨や逆光等といった悪天候の影響や、自車両と前方車両との車間距離が短くなることで、前方カメラ２の撮像画像に基づいて白線が認識できなくなったとしても、運転支援を中止させなくて済み、前方カメラ２以外のカメラ３〜６を臨機応変的に用いて、何らかの運転支援を継続することができる。その結果、ドライバーの運転負担を十分軽減することが可能となる。   As described above, in the present embodiment, in addition to the front camera 2, the left side camera 3, the right side camera 4, the rear camera 5, and the underfloor camera 6 are mounted. When the white line recognition reliability in the captured image of the front camera 2 falls below an allowable level, appropriate driving support is performed in real time using any one of the cameras 3 to 6. Therefore, even if the influence of bad weather such as rain or backlight, or the distance between the host vehicle and the vehicle ahead becomes shorter, the white line cannot be recognized based on the image captured by the front camera 2, and driving assistance is stopped. It is not necessary, and some driving assistance can be continued by using the cameras 3 to 6 other than the front camera 2 flexibly. As a result, the driving burden on the driver can be sufficiently reduced.

また、前方カメラ２の撮像画像における白線認識信頼度が許容レベルよりも高いときには、カメラ３〜６を使用しないので、カメラ３〜６の撮像画像の画像処理等を行わなくて済む。これにより、ＥＣＵ１０の処理負荷を低く抑えることができる。その結果、前方カメラ２の撮像画像に基づいた白線認識を十分精度良く且つ高速に行うことができる。   Further, when the white line recognition reliability in the captured image of the front camera 2 is higher than the allowable level, the cameras 3 to 6 are not used, so that it is not necessary to perform image processing or the like of the captured images of the cameras 3 to 6. Thereby, the processing load of ECU10 can be restrained low. As a result, white line recognition based on the image captured by the front camera 2 can be performed with sufficient accuracy and at high speed.

なお、本発明は、上記実施形態に限定されるものではない。例えば上記実施形態では、運転支援モードとしてレーンキーピングアシスト（ＬＫＡ）モード及び車線逸脱防止支援モードを例にとって説明したが、白線を認識する必要のある他の運転支援モード、例えば高速道路でのレーンチェンジアシストモード等に適用することも可能である。   The present invention is not limited to the above embodiment. For example, in the above embodiment, the lane keeping assist (LKA) mode and the lane departure prevention support mode have been described as examples of the driving support mode. However, other driving support modes that need to recognize a white line, such as a lane change on a highway, are described. It can also be applied to an assist mode or the like.

本発明に係わる車線認識装置の一実施形態を含む運転支援装置の概略構成を示すブロック図である。1 is a block diagram showing a schematic configuration of a driving support device including an embodiment of a lane recognition device according to the present invention. 図１に示した白線認識判定部により実行される処理手順を示すフローチャートである。It is a flowchart which shows the process sequence performed by the white line recognition determination part shown in FIG. 図２に示した手順Ｓ１０３の判断処理の詳細を示すフローチャートである。It is a flowchart which shows the detail of the judgment process of procedure S103 shown in FIG. 前方カメラの撮像画像の輝度に基づいて白線認識信頼度が許容レベル以下であるかどうかを判定する手法を示すグラフである。It is a graph which shows the method of determining whether a white line recognition reliability is below an allowable level based on the brightness | luminance of the captured image of a front camera.

符号の説明Explanation of symbols

１…運転支援装置（車線認識装置）、２…前方カメラ（第１撮像手段）、３…左側方カメラ（第２撮像手段）、４…右側方カメラ（第２撮像手段）、５…後方カメラ（第２撮像手段）、６…床下カメラ（第２撮像手段）、１０…ＥＣＵ、１１…車線認識部（認識手段）、１３…白線認識判定部（信頼度判定手段）。
DESCRIPTION OF SYMBOLS 1 ... Driving assistance apparatus (lane recognition apparatus), 2 ... Front camera (1st imaging means), 3 ... Left side camera (2nd imaging means), 4 ... Right side camera (2nd imaging means), 5 ... Back camera (Second image pickup means), 6 ... an under-floor camera (second image pickup means), 10 ... ECU, 11 ... lane recognition section (recognition means), 13 ... white line recognition determination section (reliability determination means).

Claims (3)

自車両が走行する走行路の撮像画像に基づいて前記走行路の車線を認識する車線認識装置において、
前記自車両の前方を撮像する第１撮像手段と、
前記第１撮像手段の撮像範囲とは異なる範囲を撮像する第２撮像手段と、
前記第１撮像手段により取得された第１撮像画像または前記第２撮像手段により取得された第２撮像画像に基づいて、前記走行路の車線を認識する認識手段と、
前記第１撮像手段により取得された第１撮像画像における車線認識信頼度を判定する信頼度判定手段とを備え、
前記認識手段は、前記第１撮像手段により取得された第１撮像画像における車線認識信頼度に応じて、前記第２撮像手段により取得された第２撮像画像における車線認識信頼度を判定し、前記車線の認識に使用する撮像画像を切り替えることを特徴とする車線認識装置。 In the lane recognition device that recognizes the lane of the travel path based on the captured image of the travel path on which the host vehicle travels,
First imaging means for imaging the front of the host vehicle;
Second imaging means for imaging a range different from the imaging range of the first imaging means;
Recognizing means for recognizing the lane of the travel path based on the first captured image acquired by the first imaging means or the second captured image acquired by the second imaging means;
Reliability determination means for determining a lane recognition reliability in the first captured image acquired by the first imaging means;
The recognizing unit determines a lane recognition reliability in the second captured image acquired by the second imaging unit according to the lane recognition reliability in the first captured image acquired by the first imaging unit , A lane recognition device that switches a captured image used for lane recognition. 前記認識手段は、前記車線認識信頼度が所定値よりも高いときは、前記第１撮像手段により取得された第１撮像画像に基づいて前記車線を認識し、前記車線認識信頼度が前記所定値よりも低いときは、前記第２撮像手段により取得された第２撮像画像に基づいて前記車線を認識することを特徴とする請求項１記載の車線認識装置。 When the lane recognition reliability is higher than a predetermined value, the recognition means recognizes the lane based on the first captured image acquired by the first imaging means, and the lane recognition reliability is the predetermined value. 2. The lane recognition device according to claim 1, wherein the lane recognition device recognizes the lane based on a second captured image acquired by the second imaging unit. 前記信頼度判定手段は、前記自車両の前方を走行する前方車両と前記自車両との車間距離が所定距離より短いことが検出されたときに、前記車線認識信頼度が前記所定値よりも低いと判定することを特徴とする請求項２記載の車線認識装置。   The reliability determination means determines that the lane recognition reliability is lower than the predetermined value when it is detected that an inter-vehicle distance between the front vehicle traveling ahead of the host vehicle and the host vehicle is shorter than a predetermined distance. The lane recognition device according to claim 2, wherein the lane recognition device is determined.
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